Koumpis, N.P., Panagiotou, P.A. and Arvanitakis, I. (2021) A critical comparison on attitude estimation: from gaussian approximate filters to coordinate-free dual optimal control. IET Control Theory and Applications, 15 (10). pp. 1297-1313. ISSN 1751-8644
Abstract
This paper conveys attitude and rate estimation without rate sensors by performing a critical comparison, validated by extensive simulations. The two dominant approaches to facilitate attitude estimation are based on stochastic and set-membership reasoning. The first one mostly utilizes the commonly known Gaussian-approximate filters, namely the EKF and UKF. Although more conservative, the latter seems to be more promising as it considers the inherent geometric characteristics of the underline compact state space and accounts—from first principles—for large model errors. The set-theoretic approach from a control point of view is addressed, and it is shown that it can overcome reported deficiencies of the Bayesian architectures related to this problem, leading to coordinate-free optimal filters.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution License, (http://creativecommons.org/licenses/by/4.0/) which permits use, distribution and reproduction in any medium, provided the original work is properly cited. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Electronic and Electrical Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 26 May 2021 15:15 |
Last Modified: | 25 Feb 2022 13:52 |
Status: | Published |
Publisher: | Wiley |
Refereed: | Yes |
Identification Number: | 10.1049/cth2.12109 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:174559 |